#ifndef LOWPASS_FILTER_H
#define LOWPASS_FILTER_H

#include "main.h"
/******************************************************************************/
typedef struct
{
    float Tf; //!< Low pass filter time constant
    float y_prev; //!< filtered value in previous execution step
} LowPassFilter;

extern LowPassFilter  lpf_current_gyro[16];
/******************************************************************************/


void lpf_init(void);
float lpf_operator(LowPassFilter* LPF,float x,float dt);
float angle_calc(float angle_m, float gyro_m);
/******************************************************************************/

#endif
